import numpy as np
from abc import ABC,abstractmethod#利用abc模块实现抽象类


class BaseRobot(ABC):
    ####Motion####
    @abstractmethod
    def MoveJ(self, jointpos:np.array,vel, acc, asynchronous=False):
        pass

    ####Read####
    def GetJointPose(self, isRad=True) -> np.array:
        pass

    @abstractmethod
    def GetTcpPose(self)->np.array:
        pass

    ####ForceSensor####
    def FtInit(self):
        pass
    def FtZero(self):
        pass
    def GetForce(self):
        pass